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<div class="title">region_growing.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Sergey Ushakov</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : mine_all_mine@bk.ru</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGION_GROWING_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGION_GROWING_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html">   61</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_region_growing.html">RegionGrowing</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search &lt;PointT&gt;</a> <a class="code" href="classpcl_1_1search_1_1_search.html">KdTree</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTree::Ptr KdTreePtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;NormalT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">Normal</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Normal::Ptr NormalPtr;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase &lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <a class="code" href="classpcl_1_1_region_growing.html">RegionGrowing</a> ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      ~<a class="code" href="classpcl_1_1_region_growing.html">RegionGrowing</a> ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      getMinClusterSize ();</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      setMinClusterSize (<span class="keywordtype">int</span> min_cluster_size);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      getMaxClusterSize ();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      setMaxClusterSize (<span class="keywordtype">int</span> max_cluster_size);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      getSmoothModeFlag () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      setSmoothModeFlag (<span class="keywordtype">bool</span> value);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      getCurvatureTestFlag () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      setCurvatureTestFlag (<span class="keywordtype">bool</span> value);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      getResidualTestFlag () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      setResidualTestFlag (<span class="keywordtype">bool</span> value);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      getSmoothnessThreshold () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      setSmoothnessThreshold (<span class="keywordtype">float</span> theta);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      getResidualThreshold () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      setResidualThreshold (<span class="keywordtype">float</span> residual);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      getCurvatureThreshold () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      setCurvatureThreshold (<span class="keywordtype">float</span> curvature);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      getNumberOfNeighbours () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      setNumberOfNeighbours (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> neighbour_number);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      KdTreePtr</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      getSearchMethod () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      setSearchMethod (<span class="keyword">const</span> KdTreePtr&amp; tree);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      NormalPtr</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      getInputNormals () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      setInputNormals (<span class="keyword">const</span> NormalPtr&amp; norm);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      extract (std::vector &lt;pcl::PointIndices&gt;&amp; clusters);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      getSegmentFromPoint (<span class="keywordtype">int</span> index, <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; cluster);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      getColoredCloud ();</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      getColoredCloudRGBA ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      prepareForSegmentation ();</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      findPointNeighbours ();</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      applySmoothRegionGrowingAlgorithm ();</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      growRegion (<span class="keywordtype">int</span> initial_seed, <span class="keywordtype">int</span> segment_number);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      validatePoint (<span class="keywordtype">int</span> initial_seed, <span class="keywordtype">int</span> point, <span class="keywordtype">int</span> nghbr, <span class="keywordtype">bool</span>&amp; is_a_seed) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      assembleRegions ();</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aaf5fe4e97596798764ebd768193b3054">  283</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_region_growing.html#aaf5fe4e97596798764ebd768193b3054">min_pts_per_cluster_</a>;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a740af3118950d0bef662a7ab60177b6a">  286</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_region_growing.html#a740af3118950d0bef662a7ab60177b6a">max_pts_per_cluster_</a>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a8d9411960ec9656fa6e727e0558d57f7">  289</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_region_growing.html#a8d9411960ec9656fa6e727e0558d57f7">smooth_mode_flag_</a>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a1a5665f6c84af901ed018521b8b3677d">  292</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_region_growing.html#a1a5665f6c84af901ed018521b8b3677d">curvature_flag_</a>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#aa217ad1c027e687ff378edb852ca3052">  295</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_region_growing.html#aa217ad1c027e687ff378edb852ca3052">residual_flag_</a>;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a87c8818e2c3eb306f1e44fa98bb55a89">  298</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_region_growing.html#a87c8818e2c3eb306f1e44fa98bb55a89">theta_threshold_</a>;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#ab9039b5534be233e1aa26bbadeecd42a">  301</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_region_growing.html#ab9039b5534be233e1aa26bbadeecd42a">residual_threshold_</a>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a8afe22fadb13bbd9a0d90753129b336c">  304</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_region_growing.html#a8afe22fadb13bbd9a0d90753129b336c">curvature_threshold_</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a8e71c3e1eab57f9eac8ff2897200fe5a">  307</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_region_growing.html#a8e71c3e1eab57f9eac8ff2897200fe5a">neighbour_number_</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a257e86a32165cc92f55c9a0b610b7917">  310</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_region_growing.html#a257e86a32165cc92f55c9a0b610b7917">search_</a>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a071c48f5d44f919aba6f8f386fd5e988">  313</a></span>&#160;      NormalPtr <a class="code" href="classpcl_1_1_region_growing.html#a071c48f5d44f919aba6f8f386fd5e988">normals_</a>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a3e4cd088c8a767b380613c9471cc15d5">  316</a></span>&#160;      std::vector&lt;std::vector&lt;int&gt; &gt; <a class="code" href="classpcl_1_1_region_growing.html#a3e4cd088c8a767b380613c9471cc15d5">point_neighbours_</a>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a83457053cb030294787154b4d29a9e87">  319</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_region_growing.html#a83457053cb030294787154b4d29a9e87">point_labels_</a>;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a95f1b3605f488bcaa677d166f2b0f362">  324</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_region_growing.html#a95f1b3605f488bcaa677d166f2b0f362">normal_flag_</a>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#a2d9823fcc36dd839f1b0e35f5949b468">  327</a></span>&#160;      std::vector&lt;int&gt; <a class="code" href="classpcl_1_1_region_growing.html#a2d9823fcc36dd839f1b0e35f5949b468">num_pts_in_segment_</a>;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#af330bc7d3ac671aee8e1a48608608b72">  330</a></span>&#160;      std::vector &lt;pcl::PointIndices&gt; <a class="code" href="classpcl_1_1_region_growing.html#af330bc7d3ac671aee8e1a48608608b72">clusters_</a>;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno"><a class="line" href="classpcl_1_1_region_growing.html#addb7479a6c8b6a8fd5ca68aadfd9b7cf">  333</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_region_growing.html#addb7479a6c8b6a8fd5ca68aadfd9b7cf">number_of_segments_</a>;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  };</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  comparePair (std::pair&lt;float, int&gt; i, std::pair&lt;float, int&gt; j)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordflow">return</span> (i.first &lt; j.first);</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;}</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/region_growing.hpp&gt;</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; NormalT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html"><div class="ttname"><a href="classpcl_1_1_region_growing.html">pcl::RegionGrowing</a></div><div class="ttdoc">Implements the well known Region Growing algorithm used for segmentation. Description can be found in...</div><div class="ttdef"><b>Definition:</b> region_growing.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a071c48f5d44f919aba6f8f386fd5e988"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a071c48f5d44f919aba6f8f386fd5e988">pcl::RegionGrowing::normals_</a></div><div class="ttdeci">NormalPtr normals_</div><div class="ttdoc">Contains normals of the points that will be segmented.</div><div class="ttdef"><b>Definition:</b> region_growing.h:313</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a1a5665f6c84af901ed018521b8b3677d"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a1a5665f6c84af901ed018521b8b3677d">pcl::RegionGrowing::curvature_flag_</a></div><div class="ttdeci">bool curvature_flag_</div><div class="ttdoc">If set to true then curvature test will be done during segmentation.</div><div class="ttdef"><b>Definition:</b> region_growing.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a257e86a32165cc92f55c9a0b610b7917"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a257e86a32165cc92f55c9a0b610b7917">pcl::RegionGrowing::search_</a></div><div class="ttdeci">KdTreePtr search_</div><div class="ttdoc">Serch method that will be used for KNN.</div><div class="ttdef"><b>Definition:</b> region_growing.h:310</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a2d9823fcc36dd839f1b0e35f5949b468"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a2d9823fcc36dd839f1b0e35f5949b468">pcl::RegionGrowing::num_pts_in_segment_</a></div><div class="ttdeci">std::vector&lt; int &gt; num_pts_in_segment_</div><div class="ttdoc">Tells how much points each segment contains. Used for reserving memory.</div><div class="ttdef"><b>Definition:</b> region_growing.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a3e4cd088c8a767b380613c9471cc15d5"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a3e4cd088c8a767b380613c9471cc15d5">pcl::RegionGrowing::point_neighbours_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; int &gt; &gt; point_neighbours_</div><div class="ttdoc">Contains neighbours of each point.</div><div class="ttdef"><b>Definition:</b> region_growing.h:316</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a740af3118950d0bef662a7ab60177b6a"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a740af3118950d0bef662a7ab60177b6a">pcl::RegionGrowing::max_pts_per_cluster_</a></div><div class="ttdeci">int max_pts_per_cluster_</div><div class="ttdoc">Stores the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.h:286</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a83457053cb030294787154b4d29a9e87"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a83457053cb030294787154b4d29a9e87">pcl::RegionGrowing::point_labels_</a></div><div class="ttdeci">std::vector&lt; int &gt; point_labels_</div><div class="ttdoc">Point labels that tells to which segment each point belongs.</div><div class="ttdef"><b>Definition:</b> region_growing.h:319</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a87c8818e2c3eb306f1e44fa98bb55a89"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a87c8818e2c3eb306f1e44fa98bb55a89">pcl::RegionGrowing::theta_threshold_</a></div><div class="ttdeci">float theta_threshold_</div><div class="ttdoc">Thershold used for testing the smoothness between points.</div><div class="ttdef"><b>Definition:</b> region_growing.h:298</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a8afe22fadb13bbd9a0d90753129b336c"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a8afe22fadb13bbd9a0d90753129b336c">pcl::RegionGrowing::curvature_threshold_</a></div><div class="ttdeci">float curvature_threshold_</div><div class="ttdoc">Thershold used in curvature test.</div><div class="ttdef"><b>Definition:</b> region_growing.h:304</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a8d9411960ec9656fa6e727e0558d57f7"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a8d9411960ec9656fa6e727e0558d57f7">pcl::RegionGrowing::smooth_mode_flag_</a></div><div class="ttdeci">bool smooth_mode_flag_</div><div class="ttdoc">Flag that signalizes if the smoothness constraint will be used.</div><div class="ttdef"><b>Definition:</b> region_growing.h:289</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a8e71c3e1eab57f9eac8ff2897200fe5a"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a8e71c3e1eab57f9eac8ff2897200fe5a">pcl::RegionGrowing::neighbour_number_</a></div><div class="ttdeci">unsigned int neighbour_number_</div><div class="ttdoc">Number of neighbours to find.</div><div class="ttdef"><b>Definition:</b> region_growing.h:307</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_a95f1b3605f488bcaa677d166f2b0f362"><div class="ttname"><a href="classpcl_1_1_region_growing.html#a95f1b3605f488bcaa677d166f2b0f362">pcl::RegionGrowing::normal_flag_</a></div><div class="ttdeci">bool normal_flag_</div><div class="ttdoc">If set to true then normal/smoothness test will be done during segmentation. It is always set to true...</div><div class="ttdef"><b>Definition:</b> region_growing.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aa217ad1c027e687ff378edb852ca3052"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aa217ad1c027e687ff378edb852ca3052">pcl::RegionGrowing::residual_flag_</a></div><div class="ttdeci">bool residual_flag_</div><div class="ttdoc">If set to true then residual test will be done during segmentation.</div><div class="ttdef"><b>Definition:</b> region_growing.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_aaf5fe4e97596798764ebd768193b3054"><div class="ttname"><a href="classpcl_1_1_region_growing.html#aaf5fe4e97596798764ebd768193b3054">pcl::RegionGrowing::min_pts_per_cluster_</a></div><div class="ttdeci">int min_pts_per_cluster_</div><div class="ttdoc">Stores the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> region_growing.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_ab9039b5534be233e1aa26bbadeecd42a"><div class="ttname"><a href="classpcl_1_1_region_growing.html#ab9039b5534be233e1aa26bbadeecd42a">pcl::RegionGrowing::residual_threshold_</a></div><div class="ttdeci">float residual_threshold_</div><div class="ttdoc">Thershold used in residual test.</div><div class="ttdef"><b>Definition:</b> region_growing.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_addb7479a6c8b6a8fd5ca68aadfd9b7cf"><div class="ttname"><a href="classpcl_1_1_region_growing.html#addb7479a6c8b6a8fd5ca68aadfd9b7cf">pcl::RegionGrowing::number_of_segments_</a></div><div class="ttdeci">int number_of_segments_</div><div class="ttdoc">Stores the number of segments.</div><div class="ttdef"><b>Definition:</b> region_growing.h:333</div></div>
<div class="ttc" id="aclasspcl_1_1_region_growing_html_af330bc7d3ac671aee8e1a48608608b72"><div class="ttname"><a href="classpcl_1_1_region_growing.html#af330bc7d3ac671aee8e1a48608608b72">pcl::RegionGrowing::clusters_</a></div><div class="ttdeci">std::vector&lt; pcl::PointIndices &gt; clusters_</div><div class="ttdoc">After the segmentation it will contain the segments.</div><div class="ttdef"><b>Definition:</b> region_growing.h:330</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class. All search wrappers must inherit from this.</div><div class="ttdef"><b>Definition:</b> search.h:75</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
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